TW201619930A - Obstacle warning system and operation method thereof - Google Patents

Abstract

The present invention relates to an obstacle warning system and an operation method thereof, which can uses an obstacle detecting unit and a gaze detecting unit to observe pupils of a driver for performing viewing angle estimation, so as to detect the moving object or fixed object within a tens-of-meters range around a vehicle and to determine whether the obstacle substantially affects driving safety according to the moving direction and speed of the obstacle. Moreover, when a driver does not notice the existence of a risk, the present invention is capable of issuing a warning message to ensure that the driver will notice the risk and make response appropriately.

Description

Obstacle warning system and its operation method 【0001】

The invention relates to a warning system and a method for operating the same, in particular to a vehicle, which allows a driver to immediately send a warning message to notify the driver when he or she does not notice that an obstacle may collide with the vehicle, and ensure that the driver has noticed the obstacle. Exist and react.

【0002】

Based on the comfort that driving can provide, the car becomes one of the vehicles widely used by the public. However, when the vehicle is driving on the road, it may cause visual dead angle, mental fatigue or other non-compliance. Driving and the safety of pedestrians are both threatened. In order to improve safety, many passive safety equipments have been equipped as standard equipment for vehicles, and active safety equipment has been continuously developed under the efforts of major manufacturers.

[0003]

Among the existing active safety equipment technologies, there are some safety warning function devices that allow users to immediately warn users, such as setting a signal transmitter and a signal receiver as a reversing radar, or installing sound effects when other objects are close to the vehicle body. Remind the driving equipment. However, these active safety devices are not enough to allow the driver to predict the crisis of the collision of the vehicle earlier, such as raising the warning time to several seconds and having enough time to avoid it, especially the object that may collide with the vehicle itself. On the move.

[0004]

Furthermore, when the driver receives a sound effect warning, it may be uncertain where the object to be collided is located, the shape of the appearance, the direction in which it is moving, and how fast it moves, causing the driver to fail to respond appropriately. In order to avoid the danger; in addition, since the prior art only judges the distance between the object and the vehicle body, and cannot distinguish the object, when the vehicle is surrounded by weeds and the like, the warning sound is still generated, and even the automatic braking is triggered. Cause unnecessary trouble.

[0005]

The main object of the present invention is to provide an obstacle warning system that combines a technique for detecting an obstacle outside the vehicle and a driving angle of the vehicle, so that when an obstacle that is harmful to driving safety is detected, if the driving is not checked When the obstacle is felt, the sound can be alerted by the sound until the driver finds the obstacle.

[0006]

Another object of the present invention is to provide an obstacle warning system that uses the direction of the pupil of the driving as the detection target, and can accurately grasp whether the driving angle of view is in a safe state.

【0007】

Still another object of the present invention is to provide an obstacle warning system capable of distinguishing the position, moving direction, and moving speed of an obstacle when detecting an obstacle to calculate whether the path overlaps with the vehicle in which the driving is performed. Collision occurs, so the present invention can warn of obstacles with actual collision risk, avoiding unnecessary warning sounds flowing into disturbing noise.

[0008]

A further object of the present invention is to provide a method for operating an obstacle warning system that projects an image of an obstacle onto a windshield, in particular, a portion of the obstacle is located behind or below the side of the vehicle, and driving is difficult. I noticed through the rearview mirror.

【0009】

In order to achieve the above object, the present invention discloses an obstacle warning system, which is disposed on a mobile vehicle. The obstacle warning system includes a detection module, which includes an obstacle detection. a measuring unit and a line of sight detecting unit, the obstacle detecting unit is disposed in the mobile vehicle or at least one side thereof, and the line of sight detecting unit is disposed in the mobile vehicle; The detection module is coupled to the detection module to receive the plurality of detection data generated by the obstacle detection unit and the line of sight detection unit, and generates a warning data through operation; and a warning module The operation module is coupled to the operation module and receives the warning data to send an alert message to the mobile vehicle. The operation step includes: using an obstacle detecting unit to detect position information of at least one obstacle outside the moving vehicle and a moving direction information; using a projection unit to project the image of the obstacle on a board surface Using a line of sight detecting unit to detect the direction of the line of sight of the driving vehicle; using a computing module to calculate the obstacle to collide with the moving vehicle by using the position information of the obstacle and the moving direction information And determining, by the line of sight direction information, whether the board is within the line of sight of the driving; and if the obstacle has a collision with the moving load, and the board is not within the line of sight of the driving, the operation The module sends a warning message to a warning module and uses the warning module to send a warning message to notify the driver.

1‧‧‧Mobile Vehicles
2‧‧‧Detection module
21‧‧‧ obstacle detection unit
22‧‧ Sight line detection unit
3‧‧‧ Computing Module
4‧‧‧Warning module
5‧‧‧Projection Module
S10~13‧‧‧Steps
S20~24‧‧‧Steps

[0010]

1 is a schematic view showing a position of a part of a component of a preferred embodiment of the present invention for indicating its position relative to a moving carrier;
2 is a schematic structural view of a preferred embodiment of the present invention;
FIG. 3 is a flow chart showing the steps of a preferred embodiment of the present invention; and FIG. 4 is a flow chart showing the steps of another preferred embodiment of the present invention for indicating the use of a projection module.

[0011]

For a better understanding and understanding of the features and advantages of the present invention, the preferred embodiments and the detailed description are described as follows:

[0012]

First, please refer to FIG. 1 and FIG. 2 together. The obstacle warning system disclosed in the present invention is disposed on a mobile vehicle 1, such as a car, and the obstacle warning system includes a detecting module 2, The computing module 3 and a warning module 4. The detection module 2 includes at least one obstacle detecting unit 21 and a line of sight detecting unit 22, and the obstacle detecting units 21 are disposed in the mobile vehicle 1 or at least one side thereof, and the line of sight The detection unit 22 is disposed in the mobile vehicle 1; the computing module 3 is coupled to the detection module 2, and the warning module 4 is coupled to the computing module 3.

[0013]

The obstacle detecting unit 21 included in the detecting module 2 is configured to detect whether there is an object in the surrounding space of the moving carrier 1 that may affect driving safety, such as a pedestrian, an animal, other moving vehicles, or a fixed fence. , bushes, etc. Since the driving angle of view is limited, there are inevitably various dead angles, especially the sideways of the vehicle, the rear, or the low edge of the vehicle. These dead angles are preferred locations for the obstacle detecting unit 21 of the present invention, but they can also be disposed in the vehicle and are omnidirectionally detected around the center. The component structure of the obstacle detecting unit 21 may include a depth sensor and a two-dimensional camera, which can obtain a depth message while acquiring an image, that is, a complete spatial message can be acquired for subsequent analysis, calculation, and reconstruction, for example, for example, Refer to the direction of movement of the obstacle relative to the vehicle and the speed of movement to determine if the obstacle will collide with the vehicle, or if the two are close but not actually scratched. The obstacle detecting unit 21 may further include an embedded chip as a subsystem capable of independently performing detection parameter adjustment or data access.

[0014]

The line-of-sight detecting unit 22 disposed in the mobile vehicle 1 is configured to detect the direction of the line of sight of the driving, and is integrated with the obstacle detecting unit 21 disposed inside the moving carrier 1. Some possible methods of the line-of-sight detecting unit 22 include detecting the direction of the driving head to determine the direction in which the line of sight is directed, or recognizing the driving face, but in a preferred embodiment, the present invention uses RGB- The D camera functions as a pupil detecting element to implement the line of sight detecting unit 22. The pupil detecting component can acquire and track the position of the eyeball through image capturing to identify whether the gaze point of the driving eye can observe the existence of the collision risk information. The component structure of the line-of-sight detecting unit 22 may also include an embedded chip.

[0015]

The above collision risk information can be divided into two types, one is actual data and the other is analog data. The actual data refers to the risk of collision that can be easily observed in the direction of travel of the vehicle, such as the vehicle in front, the pedestrian passing by the front, etc. The driving can directly recognize the collision risk without turning the head; It is based on the scope of the line of sight of the driving. For example, for the sideways, rear, and low edge of the vehicle, driving must be observed or even impossible to observe through the rotation of the head or through the reflection of the rearview mirror. For the collision risk, the present invention can obtain the relevant image by using the above-mentioned obstacle detecting unit 21, and then use the projection method to reproduce the image in a position that can be easily observed by driving, for example, projected on the front windshield.

[0016]

The projection of the analog data needs to be coupled to the projection module 5 coupled to the computing module 3. The projection module 5 can insert the obstacle image acquired by the obstacle detecting unit 21 through the embedded object detecting unit 21 itself. The wafer processing is either processed by the computing module 3 and projected onto a board surface, and the board surface that is easier to obtain and has a good effect is the windshield in front of the vehicle. Since the obstacle detecting unit 21 can obtain the depth information of the image, the image projected by the projection module 5 is also a reconstructed stereoscopic space image, so that the driving can more clearly recognize the shape of the obstacle. Emphasizing the distance from obstacles to vehicles in terms of color variations is also a preferred projection method. If the image is not projected on the windshield, it is also a feasible way to display the projection result on the vehicle display screen.

[0017]

However, even if the obstacle exists in front of the vehicle or is presented on the windshield through the aforementioned projection technique, the driving may still neglect the existence of these collision risks because it is not focused or paying attention to other objects, and thus the present invention utilizes The aforementioned sight line detecting unit 22 determines whether or not the risk of collision is observed in driving. For example, when there is a pedestrian running in front of the vehicle body, or the image provided by the projection module 5 is telling the vehicle to drive the vehicle on the side of the vehicle a few meters away and referring to the moving direction and speed thereof, it may cause collision with the vehicle. When the driving eye is facing the front of the vehicle or seeing the image provided by the projection module 5.

[0018]

If the detection result of the visual line detecting unit 22 indicates that the driving does not notice the information, especially after a predetermined time (for example, 1 to 2 seconds, the speed of the vehicle and the moving speed of the obstacle can be used to calculate the expected occurrence. The driver module 3 can use the warning module 4 coupled thereto to remind the driver of the information after the specific number of seconds before the collision. The operation module 3 generates the warning data after the detection results of the obstacle detection unit 21 and the visual line detection unit 22, and sends the warning data to the warning module 4, and the warning module 4 receives the warning data and sends a warning message to the movement. Within the vehicle 1. The preferred format of the alert message is sound, so the alert module 4 includes at least one sound effect unit that can continuously issue a pre-recorded audio alert to drive until the driver notices the presence of an obstacle. For example, when the line-of-sight detecting unit 22 detects that the direction of the line of sight of the driving matches the position of the board surface, the warning module 4 stops transmitting the warning message.

[0019]

The sound effect unit can use the spatial configuration in the mobile vehicle 1 to emit sound in different directions, for example, the sound effect unit is disposed in a plurality of corners of the mobile vehicle 1 and refers to the orientation of the obstacle relative to the vehicle, and at the time of warning Only the sound unit in this orientation emits a sound, and the assisted driving is alert to the obstacle in the fastest time.

[0020]

According to the above structure, please refer to FIG. 3, the method for operating the obstacle warning system of the present invention, which comprises the steps of:


Step S10: detecting, by using an obstacle detecting unit, position information and moving direction information of at least one obstacle outside the moving vehicle;
Step S11: detecting a line of sight direction information of the driving vehicle by using the line of sight detecting unit;
Step S12: calculating, by using the position information of the obstacle and the movement direction information, the possibility of the obstacle colliding with the moving vehicle, and using the line of sight direction information to determine whether the obstacle is within the line of sight of the driving; and step S13: If the obstacle has a collision with the mobile load, and the obstacle is not within the line of sight of the driving, the computing module sends the warning data to the warning module and uses the warning module to send a warning message to notify the driving.


If there is a projection module, please refer to Figure 4, the steps include:


Step S20: detecting, by using the obstacle detecting unit, position information and moving direction information of at least one obstacle outside the moving vehicle;
Step S21: using the projection unit to project an image of the obstacle on the board surface;
Step S22: detecting a line of sight direction information of the driving vehicle by using the line of sight detecting unit;
Step S23: calculating, by using the position information of the obstacle and the movement direction information, the possibility of the obstacle colliding with the moving vehicle, and using the line of sight direction information to determine whether the board surface is within the line of sight of the driving; and step S24: When the obstacle has a collision with the moving load, and the board surface is not in the line of sight of the driving, the computing module sends the warning data to the warning module and uses the warning module to send a warning message to notify the driving.

[0021]

The obstacle warning system disclosed in the present invention can be firstly installed on the mobile vehicle, or each time the road is started, the positioning correction can be performed first to adjust the positional relationship between the image generated by the projection module and the driving line of sight.

[0022]

In summary, the present invention discloses an obstacle warning system and a method for operating the same, which can perform angle estimation through the detecting device and the observation of driving the pupil, and strengthen the current driving warning system to detect the periphery of the vehicle. Moving objects or fixed objects within the metric range can not only determine whether the obstacles will affect the safety of driving, but also ensure that the driver can notice these risks. Furthermore, the invention has low cost but high accuracy, is not affected by the environment, does not need to change the structure of the vehicle body during installation, and can be directly applied to general vehicles. In view of the increasing public attention to driving safety, the obstacle of the present invention The warning system and its operation method undoubtedly have deep development potential and application value.

[0023]

The above is only the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and the variations, modifications, and modifications of the shapes, structures, features, and spirits described in the claims of the present invention. All should be included in the scope of the patent application of the present invention.

2‧‧‧Detection module

21‧‧‧ obstacle detection unit

22‧‧ Sight line detection unit

3‧‧‧ Computing Module

4‧‧‧Warning module

5‧‧‧Projection Module

Claims (10)

[Item 1] An obstacle warning system is provided on a mobile vehicle, the obstacle warning system comprising:
a detection module includes an obstacle detection unit and a line of sight detection unit, the obstacle detection unit is disposed in or on at least one side of the mobile vehicle, and the line of sight detection unit is Set in the mobile vehicle;
An operation module is coupled to the detection module to receive the plurality of detection data generated by the obstacle detection unit and the line of sight detection unit, and generate a warning data through operation; and a warning mode The group is coupled to the computing module, and receives the warning data and sends a warning message to the mobile vehicle. [Item 2] The obstacle warning system of claim 1, wherein the obstacle detection unit comprises a depth sensor and a two-dimensional camera. [Item 3] The obstacle warning system of claim 1, wherein the sight detection unit comprises a pupil detection component for detecting a line of sight of the driving of the mobile vehicle. [Item 4] The obstacle warning system of claim 1, wherein the warning module comprises at least one sound effect unit. [Item 5] The obstacle warning system of claim 4, wherein the sound effect units are disposed in a plurality of corners of the mobile vehicle, and the warning message is sent by a portion of the sound effect units. [Item 6] The obstacle warning system of claim 1, further comprising a projection module coupled to the computing module for projecting an image of the obstacle to a board surface. [Item 7] An operation method of an obstacle warning system, the obstacle warning system being disposed on a mobile vehicle, the method comprising the steps of:
Using an obstacle detecting unit to detect position information of at least one obstacle outside the moving vehicle and a moving direction information;
Using a line of sight detecting unit to detect the direction of the line of sight of the driving vehicle;
Using a computing module to calculate the possibility of the obstacle colliding with the mobile vehicle by using the position information of the obstacle and the moving direction information, and using the line of sight direction information to determine whether the obstacle is located within the driving line of sight And if the obstacle has a collision with the mobile load, and the obstacle is not within the line of sight of the driving, the computing module sends a warning data to a warning module to send a warning by using the warning module; The message informs the driver. [Item 8] The method for operating an obstacle warning system according to claim 7, wherein the step of using the warning module to send the warning message to notify the driving is to use the at least one sound effect unit of the warning module to issue the warning message. [Item 9] An operation method of an obstacle warning system, the obstacle warning system being disposed on a mobile vehicle, the method comprising the steps of:
Using an obstacle detecting unit to detect position information and moving direction information of at least one obstacle outside the moving vehicle;
Using a projection unit to project an image of the obstacle on a board surface;
Using a line of sight detecting unit to detect the direction of the line of sight of the driving vehicle;
Using a computing module to calculate the possibility of the obstacle colliding with the moving vehicle by using the position information of the obstacle and the moving direction information, and determining whether the board surface is within the driving line of sight by using the line of sight direction information And if the obstacle has a collision with the mobile load, and the board is not in the line of sight of the driving, the computing module sends a warning data to a warning module and sends a warning by using the warning module. The message informs the driver. [Item 10] The operation method of the obstacle warning system according to claim 9, wherein the sight detection unit detects that the direction of the line of sight of the driving conforms to the position of the board, the warning module stops transmitting the Warning message.